Systems and methods for UAV battery exchange

ABSTRACT

Systems and methods are provided for swapping the battery on an unmanned aerial vehicle (UAV). The UAV may be able to identify and land on an energy provision station autonomously. The UAV may take off and/or land on the energy provision station. The UAV may communicate with the energy provision station. The energy provision station may store and charge batteries for use on a UAV.

CROSS REFERENCE

This application is a continuation application of U.S. application Ser.No. 14/832,808, filed Aug. 21, 2015, which is a continuation applicationof U.S. application Ser. No. 14/495,696, filed Sep. 24, 2014, now U.S.Pat. No. 9,139,310, which is a continuation application of InternationalApplication No. PCT/CN2014/083968, filed on Aug. 8, 2014, the content ofwhich is hereby incorporated by reference in their entirety.

BACKGROUND OF THE INVENTION

Aerial vehicles such as unmanned aerial vehicles (UAVs) can be used forperforming surveillance, reconnaissance, and exploration tasks formilitary and civilian applications. Such aerial vehicles may carry apayload configured to perform a specific function.

A UAV may be powered by an on-board rechargeable battery. In someinstances, a UAV may need to travel a distance that will exceed theavailable charge on the on-board battery. This may severely limit therange and use of the UAV.

SUMMARY OF THE INVENTION

A need exists to provide increased range of travel for UAV's. Increasedrange may be useful when UAVs may be used to deliver items, spray anenvironment, or patrol or scan an area. An automated or semi-automatedbattery charging station may advantageously permit battery life on a UAVto be reloaded. Battery life may be reloaded on a UAV by recharging theon board battery of the UAV or exchanging the onboard battery foranother battery.

An aspect of the invention is directed to a UAV energy provisionstation, said station comprising: a UAV landing area configured tosupport a UAV when the UAV is resting on the station, said UAV coupledto a first battery configured to power the UAV; a second battery capableof powering the UAV upon being coupled to the UAV; a battery chargingunit capable of charging the first battery of the UAV; and a processorconfigured to receive information about a state of charge of the firstbattery and generate an instruction, depending on the state of charge ofthe first battery, to: (1) exchange the second battery for the firstbattery such that the first battery is decoupled from the UAV and thesecond battery is coupled to the UAV, or (2) charge the first batterywith the battery charging unit.

In an embodiment of the invention the UAV may be capable of landing onthe UAV energy provision station vertically and/or taking off from theUAV energy provision station vertically. The UAV may be a rotorcraft.The UAV may have a maximum dimension of no more than 100 cm. The UAV maycomprise a recessed region into which a first battery is inserted tocouple to the UAV and provide power to the UAV. A second battery may beconfigured to be inserted into the recessed region to couple to the UAVand provide power to the UAV. The battery charging unit of the energyprovision station may be configured to charge the first battery whilethe first battery is inserted in the recessed region. The second batterymay have the same form factor as the first battery.

The landing area of the energy provision station may comprise visiblemarkers configured to aid the UAV in landing. The visible markers maycomprise images. The images may aid a UAV in landing when a UAVrecognizes a particular image indicative that the UAV is to land. Thevisible markers may comprise LED lights. The LED lights may flash in aparticular spatial or temporal pattern that a UAV may recognize as aparticular spatial or temporal pattern that is indicative that the UAVis to land.

The UAV may transmit information to the energy provision station aboutthe state of charge of the first battery. The information may betransmitted wirelessly to the energy provision station using atransmitter on board the UAV. The energy provision station may have areceiver that may be configured to receive the wirelessly transmittedinformation. The energy provision station may comprise a chargemeasuring component that measures the state of charge of the firstbattery when the UAV is landed on the station. The processor maygenerate the instructions to exchange the second battery with the firstbattery when the state of charge of the first battery is beneath apredetermined threshold value. The UAV energy provision station may beportable.

A method of providing energy to a UAV may be provided, said methodcomprising: providing the energy provision station as previouslydescribed; and receiving information, at the processor, about the stateof charge of the first battery.

The method may include generating the instruction, with aid of theprocessor to (1) exchange the second battery for the first battery suchthat the first battery is decoupled from the UAV and the second batteryis coupled to the UAV, or (2) charge the first battery with the batterycharging unit. The method may further include (1) exchanging the secondbattery for the first battery such that the first battery is decoupledfrom the UAV and the second battery is coupled to the UAV, or (2)charging the first battery with the battery charging unit, in accordancewith the generated instructions.

An additional aspect of the invention may be directed to a UAV batterychanging station, said station comprising: a UAV landing area configuredto support a UAV when the UAV is resting on the station, said UAVcoupled to a first battery configured to power the UAV; a movablebattery storage unit comprising a plurality of holding stationsconfigured to collectively store a plurality of batteries capable ofpowering the UAV upon being coupled to the UAV, wherein the movablebattery storage section is configured to permit simultaneous movement ofthe plurality of holding stations relative to the UAV landing area; anda battery replacement member configured to take a second battery from aholding station of the movable battery storage unit, and couple thesecond battery to the UAV.

In an embodiment of the invention the UAV may be capable of landing onthe UAV energy provision station vertically and/or taking off from theUAV energy provision station vertically. The UAV may be a rotorcraft.The UAV may have a maximum dimension of no more than 100 cm. The UAV mayinclude a recessed region into which a first battery is inserted tocouple to the UAV and provide power to the UAV. A second battery may beconfigured to be inserted into the recessed region to couple to the UAVand provide power to the UAV. The battery charging unit of the energyprovision station may be configured to charge the first battery whilethe first battery is inserted in the recessed region. The second batterymay have the same form factor as the first battery.

The landing area of the energy provision station may comprise visiblemarkers configured to aid the UAV in landing. The visible markers maycomprise images. The images may aid a UAV in landing when a UAVrecognizes a particular image indicative that the UAV is to land. Thevisible markers may comprise LED lights. The LED lights may flash in aparticular spatial or temporal pattern that a UAV may recognize as aparticular spatial or temporal pattern that is indicative that the UAVis to land.

The movable battery storage unit may comprise a carousel configurationfor the plurality of holding stations. The carousel may include aplurality of holding stations configured to receive a battery. Theholding stations may be capable of rotating around an axis of rotation.The axis of rotation may be oriented in a horizontal direction. Themovable battery storage unit may comprise at least four holdingstations. The at least four holding stations may be configured to rotateabout the axis of rotation. The movable battery storage unit may includea battery charging unit capable of charging at least one battery in aholding station. The movable battery storage unit may be located beneaththe UAV landing area. The movable battery storage unit may include abattery charging unit capable of charging at least one battery in aholding station.

In some instances the battery replacement member may be a mechanicalelevator. The mechanical elevator may also be configured to decouple thefirst battery from the UAV. The mechanical elevator may include a robotarm clamp that may grasp the first battery to decouple the first batteryfrom the UAV. The mechanical elevator may effect horizontal movement todecouple the first battery from the UAV. The mechanical elevator mayeffect vertical movement to transport the first battery to the movablebattery storage unit. The mechanical elevator may effect verticalmovement of the second battery from the movable battery storage unit tothe UAV. The mechanical elevator may effect horizontal movement of thesecond battery to be coupled to the UAV.

In some cases the UAV battery changing station may be portable.

A method of changing a battery of a UAV may be provided in accordancewith an aspect of the invention. The method may comprise: providing theUAV battery changing station as described elsewhere herein; landing theUAV on the UAV landing area; and using the battery replacement member totake the second battery and couple the second battery to the UAV. Themethod may further comprise moving the first battery to a holdingstation of the movable battery storage unit.

In an embodiment of the invention the charging station is a UAV batterychanging station, said station comprising: a UAV landing area configuredto support a UAV when the UAV is resting on the station, said UAVcoupled to a first battery configured to power the UAV; a movablebattery storage unit comprising a holding station configured to store asecond battery capable of powering the UAV upon being coupled to theUAV, wherein the movable battery storage section is configured to permitrotational movement of the holding station about an axis of rotation;and a battery replacement member configured to take the second batteryfrom the holding station of the movable battery storage unit, and couplethe second battery to the UAV.

In an embodiment of the invention the UAV may be capable of landing onthe UAV energy provision station vertically and/or taking off from theUAV energy provision station vertically. The UAV may be a rotorcraft.The UAV may have a maximum dimension of no more than 100 cm. The UAV mayinclude a recessed region into which a first battery is inserted tocouple to the UAV and provide power to the UAV. A second battery may beconfigured to be inserted into the recessed region to couple to the UAVand provide power to the UAV. The battery charging unit of the energyprovision station may be configured to charge the first battery whilethe first battery is inserted in the recessed region. The second batterymay have the same form factor as the first battery.

The landing area of the energy provision station may comprise visiblemarkers configured to aid the UAV in landing. The visible markers maycomprise images. The images may aid a UAV in landing when a UAVrecognizes a particular image indicative that the UAV is to land. Thevisible markers may comprise LED lights. The LED lights may flash in aparticular spatial or temporal pattern that a UAV may recognize as aparticular spatial or temporal pattern that is indicative that the UAVis to land.

The movable battery storage unit may include a carousel configurationthat permits the rotational movement about the axis passing through thecenter of the carousel. The axis of rotation may have a horizontalorientation.

The movable battery storage unit may include a carousel configurationfor the plurality of holding stations. The holding stations may rotateabout the axis passing through the center of the carousel. The movablebattery storage unit may comprise at least four holding stations. Themovable battery storage unit may include a battery charging unit capableof charging at least one battery in a holding station. The movablebattery storage unit may be located beneath the UAV landing area. Themovable battery storage unit may include a battery charging unit capableof charging at least one battery in a holding station.

In some instances the battery replacement member may be a mechanicalelevator. The mechanical elevator may also be configured to decouple thefirst battery from the UAV. The mechanical elevator may include a robotarm clamp that may grasp the first battery to decouple the first batteryfrom the UAV. The mechanical elevator may effect horizontal movement todecouple the first battery from the UAV. The mechanical elevator mayeffect vertical movement to transport the first battery to the movablebattery storage unit. The mechanical elevator may effect verticalmovement of the second battery from the movable battery storage unit tothe UAV. The mechanical elevator may effect horizontal movement of thesecond battery to be coupled to the UAV.

In some cases the UAV battery changing station may be portable.

A method of changing a battery on board a UAV may further compriseremoving the first battery from the UAV using the battery replacementmember. The method may further comprise moving the first battery to aholding station of the movable battery storage unit.

A method for changing a battery of a UAV, said method comprising:supporting a UAV on a UAV landing area of a station, wherein said UAV iscoupled to a first battery configured to power the UAV; removing thefirst battery from the UAV with aid of a battery replacement member; andmoving, within a battery storage section, a holding station configuredto store a second battery capable of powering the UAV upon being coupledto the UAV, wherein the holding station is moved simultaneously whilethe first battery is being removed with aid of the battery replacementmember.

In some instance the holding station may be moved about an axis ofrotation. The first battery may be removed via a translational motionwithout rotation.

In an embodiment of the invention the UAV is a rotorcraft capable oflanding on the UAV energy provision station vertically and taking offfrom the UAV energy provision station vertically. The UAV may have amaximum dimension of no more than 100 cm. The UAV may include a recessedregion into which a first battery is inserted to couple to the UAV andprovide power to the UAV. A second battery may be configured to beinserted into the recessed region to couple to the UAV and provide powerto the UAV. The battery charging unit of the energy provision stationmay be configured to charge the first battery while the first battery isinserted in the recessed region. The second battery may have the sameform factor as the first battery.

The landing area of the energy provision station may comprise visiblemarkers configured to aid the UAV in landing. The visible markers maycomprise images. The images may aid a UAV in landing when a UAVrecognizes a particular image indicative that the UAV is to land. Thevisible markers may comprise LED lights. The LED lights may flash in aparticular spatial or temporal pattern that a UAV may recognize as aparticular spatial or temporal pattern that is indicative that the UAVis to land.

The method may further comprise placing the first battery within aholding station of the battery storage section with aid of the batteryreplacement member. The method may include removing the second batteryfrom the holding station of the battery storage section with aid of thebattery replacement member.

In another embodiment the invention the battery changing station may beA UAV battery changing station, said station comprising: a UAV landingarea configured to support a UAV when the UAV is resting on the station,said UAV coupled to a first battery configured to power the UAV, whereinthe UAV landing area includes at least one passive landing guideconfigured to (1) accept a protruding feature of the UAV when the UAVlands in the landing area, and (2) guide the UAV to a desired landinglocation in the landing area by utilizing gravity; at least one of (a)battery storage unit comprising a holding station configured to store asecond battery capable of powering the UAV upon being coupled to theUAV, or (b) a battery charging unit capable of charging the firstbattery of the UAV.

The UAV landing area may include a plurality of passive landing guides.In some cases the passive landing guide can be an inverted cone. Thedesired landing location may have the protruding feature of the UAV atthe center of the inverted cone. The passive landing guide may remainstationary relative to the UAV landing area. The protruding feature ofthe UAV may be a landing extension member of the UAV designed to bearweight of the UAV when the UAV is not airborne.

In an embodiment of the invention the UAV is a rotorcraft capable oflanding on the UAV energy provision station vertically and taking offfrom the UAV energy provision station vertically. The UAV may have amaximum dimension of no more than 100 cm. The UAV may include a recessedregion into which a first battery is inserted to couple to the UAV andprovide power to the UAV. A second battery may be configured to beinserted into the recessed region to couple to the UAV and provide powerto the UAV. The battery charging unit of the energy provision stationmay be configured to charge the first battery while the first battery isinserted in the recessed region. The second battery may have the sameform factor as the first battery.

The landing area of the energy provision station may comprise visiblemarkers configured to aid the UAV in landing. The visible markers maycomprise images. The images may aid a UAV in landing when a UAVrecognizes a particular image indicative that the UAV is to land. Thevisible markers may comprise LED lights. The LED lights may flash in aparticular spatial or temporal pattern that a UAV may recognize as aparticular spatial or temporal pattern that is indicative that the UAVis to land.

The battery storage unit may be positioned beneath the UAV landing area.The battery charging unit may be capable of charging the first batteryof the UAV while the first battery is coupled to the UAV.

A robotic arm may be provided on the UAV battery changing station, saidrobotic arm configured to aid the UAV in landing.

The UAV battery changing station may also include a GPS unit configuredto provide location information about the station. The UAV may have aGPS unit configured to provide location information about the UAV. Aprocessor on-board the UAV or the UAV battery changing stationcalculates a relative position of the UAV to the UAV battery changingstation. Real time kinematic (RTK) navigation is used in thecalculation.

Other objects and features of the present invention will become apparentby a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1 shows the battery charging system including a UAV for use in thesystem and an energy provision station.

FIG. 2 shows a detailed example of an energy provision station.

FIG. 3 shows a UAV with a recessed region for housing of at least onebattery.

FIG. 4 shows a flow chart describing the processes of exchanging abattery on a UAV with an energy provision station.

FIG. 5 shows the components of an energy provision station.

FIG. 6 shows an example of a landing guide on the landing area of anenergy provision station.

FIG. 7 shows a detailed view of a UAV mating with a landing guide.

FIG. 8 shows the self-correction of a UAV landing on a landing guide.

FIG. 9 shows an example of a battery storage carousel.

FIG. 10 shows an example of a battery storage container.

FIG. 11 shows an example of a battery storage carousel located below thelanding area.

FIG. 12 shows the components of a possible mechanism to swap the batteryon a UAV.

FIG. 13 shows an embodiment of a robotic arm clamp for swapping a UAVbattery.

FIG. 14 shows a detailed example of a mechanism for swapping a UAVbattery.

FIG. 15 shows an example of a complete energy provision station.

FIG. 16 shows a UAV with an on-board battery connected to a charge of anenergy provision station.

FIG. 17 provides a flow chart of a possible communication between a UAVand a energy provision station.

FIG. 18 illustrates an unmanned aerial vehicle, in accordance with anembodiment of the invention.

FIG. 19 illustrates a movable object including a carrier and a payload,in accordance with an embodiment of the invention.

FIG. 20 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with an embodiment ofthe invention.

FIG. 21 illustrates a procedure that may be followed by a UAV and anenergy provision station in accordance with an embodiment of theinvention.

DETAILED DESCRIPTION OF THE INVENTION

The systems, devices, and methods of the present invention provideinteraction between an energy provision station and an unmanned aerialvehicle (UAV). Description of the UAV may be applied to any other typeof unmanned vehicle, or any other type of movable object. Description ofthe vehicle may apply to land-bound, underground, underwater, watersurface, aerial, or space-based vehicles. The interaction between theenergy provision station and the UAV may include docking between theenergy provision station and the UAV. Communications may occur betweenthe UAV and the energy provision station while the UAV is separated fromthe energy provision station and/or while the UAV is connected to theenergy provision station. The UAV may be powered by a rechargeablebattery which may be recharged while onboard the UAV or removed from theUAV prior to recharging. The energy provision station may exchange thebattery onboard the UAV for another battery. The energy provisionstation may store batteries. The energy provision station may be movablerelative to a UAV.

FIG. 1 shows an example of an unmanned aerial vehicle (UAV) that may beassociated with an energy provision station. The UAV may land on or takeoff from the energy provision station. An energy provision system 100may be provided in accordance with an embodiment of the invention. Theenergy provision system may comprise a UAV 101 and an energy provisionstation 102. The UAV may be adapted to identify and communicate with theenergy provision station.

Any description herein of a UAV 101 may apply to any type of movableobject. The description of a UAV may apply to any type of unmannedmovable object (e.g., which may traverse the air, land, water, orspace). The UAV may be capable of responding to commands from a remotecontroller. The remote controller may be not connected to the UAV, theremote controller may communicate with the UAV wirelessly from adistance. In some instances, the UAV may be capable of operatingautonomously or semi-autonomously. The UAV may be capable of following aset of pre-programmed instructions. In some instances, the UAV mayoperate semi-autonomously by responding to one or more commands from aremote controller while otherwise operating autonomously. For instance,one or more commands from a remote controller may initiate a sequence ofautonomous or semi-autonomous actions by the UAV in accordance with oneor more parameters.

The UAV 101 may be an aerial vehicle. The UAV may have one or morepropulsion units that may permit the UAV to move about in the air. Theone or more propulsion units may enable the UAV to move about one ormore, two or more, three or more, four or more, five or more, six ormore degrees of freedom. In some instances, the UAV may be able torotate about one, two, three or more axes of rotation. The axes ofrotation may be orthogonal to one another. The axes of rotation mayremain orthogonal to one another throughout the course of the UAV'sflight. The axes of rotation may include a pitch axis, roll axis, and/oryaw axis. The UAV may be able to move along one or more dimensions. Forexample, the UAV may be able to move upwards due to the lift generatedby one or more rotors. In some instances, the UAV may be capable ofmoving along a Z axis (which may be up relative to the UAV orientation),an X axis, and/or a Y axis (which may be lateral). The UAV may becapable of moving along one, two, or three axes that may be orthogonalto one another.

The UAV 101 may be a rotorcraft. In some instances, the UAV may be amulti-rotor craft that may include a plurality of rotors. The pluralityor rotors may be capable of rotating to generate lift for the UAV. Therotors may be propulsion units that may enable the UAV to move aboutfreely through the air. The rotors may rotate at the same rate and/ormay generate the same amount of lift or thrust. The rotors mayoptionally rotate at varying rates, which may generate different amountsof lift or thrust and/or permit the UAV to rotate. In some instances,one, two, three, four, five, six, seven, eight, nine, ten, or morerotors may be provided on a UAV. The rotors may be arranged so thattheir axes of rotation are parallel to one another. In some instances,the rotors may have axes of rotation that are at any angle relative toone another, which may affect the motion of the UAV.

FIG. 2 shows a detailed view of a possible embodiment of an energyprovision system comprising the UAV 201 and the energy provision station202. The UAV 201 shown in FIG. 2 is an example of a UAV that can be partof the energy provision system. The UAV shown may have a plurality ofrotors 203. The rotors 203 may connect to the body of the UAV 204 whichmay comprise a control unit, inertial measuring unit (IMU), processor,battery, power source, and/or other sensors. The rotors may be connectedto the body via one or more arms or extensions that may branch from acentral portion of the body. For example, one or more arms may extendradially from a central body of the UAV, and may have rotors at or nearthe ends of the arms.

The UAV may be situated on a surface of the energy provision station bya landing stand 205. The landing stand may be configured to support theweight of the UAV when the UAV is not airborne. The landing stand mayinclude one or more extension members that may extend from the UAV. Theextension members of the landing stand may extend from one or more armsof the UAV, or from a central body of the UAV. The extension members ofthe landing stand may extend from beneath one or more rotors, or nearone or more rotors. The extension members may extend substantiallyvertically.

The energy provision station 202 may be a battery station. The energyprovision station may be a ground station. The energy provision stationmay be a battery changing station or battery exchange station. Theenergy provision station may be a battery recharging station. The energyprovision station may be portable. The energy provision station may becapable of being carried by a human. The energy provision station may becapable of being lifted by a human in one or two hands. The energyprovision station may be reconfigurable or folded in on itself to becomemore portable.

The energy provision station 202 may have a landing area for a UAV 206.Any surface of the energy provision station may be adapted to comprisethe landing area. For example, a top surface of the energy provisionstation may form a landing area. Optionally, one or more platforms maybe provided as a landing area for the UAV. The platforms may or may notinclude any sides, ceilings, or covers.

The energy provision station 202 may further comprise a battery storagesystem. The battery storage system may be configured to store one ormore batteries. The battery storage system may charge the one or morestored batteries. In the example shown in FIG. 2 the battery storagesystem 207 is shown below the landing area 206. Another component of anenergy provision station may be a mechanism configured to remove abattery from a UAV and to replace the removed battery with a fully orpartially charged battery from the battery storage system.

A vertical position and/or velocity of the UAV may be controlled bymaintaining and/or adjusting output to one or more propulsion units ofthe UAV. For example, increasing the speed of rotation of one or morerotors of the UAV may aid in causing the UAV to increase in altitude orincrease in altitude at a faster rate. Increasing the speed of rotationof the one or more rotors may increase the thrust of the rotors.Decreasing the speed of rotation of one or more rotors of the UAV mayaid in causing the UAV to decrease in altitude or decrease in altitudeat a faster rate. Decreasing the speed of rotation of the one or morerotors may decrease the thrust of the one or more rotors. When a UAV istaking off, such as from an energy provision station, the output may beprovided to the propulsion units may be increased from its previouslanded state. When the UAV is landing, such as on a vehicle, the outputprovided to the propulsion units may be decreased from its previousflight state. The UAV may be configured to take off and/or land on anenergy provision station in a substantially vertical manner.

A lateral position and/or velocity of the UAV may be controlled bymaintaining and/or adjusting output to one or more propulsion units ofthe UAV. The altitude of the UAV and the speed of rotation of one ormore rotors of the UAV may affect the lateral movement of the UAV. Forexample, the UAV may be tilted in a particular direction to move in thatdirection, and the speed of the rotors of the UAV may affect the speedof the lateral movement and/or trajectory of movement. Lateral positionand/or velocity of the UAV may be controlled by varying or maintainingthe speed of rotation of one or more rotors of the UAV.

The UAV 101 may be of small dimensions. The UAV may be capable of beinglifted and/or carried by a human. The UAV may be capable of beingcarried by a human in one hand. The energy provision station may have alanding area configured to provide a space for the UAV to land. The UAVdimensions may optionally not exceed the width of the energy provisionstation landing area. The UAV dimensions may optionally not exceed thelength of the energy provision station landing area.

The UAV 101 may have a greatest dimension (e.g., length, width, height,diagonal, diameter) of no more than 100 cm. In some instances, thegreatest dimension may be less than or equal to 1 mm, 5 mm, 1 cm, 3 cm,5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm, 100cm, 110 cm, 120 cm, 130 cm, 140 cm, 150 cm, 160 cm, 170 cm, 180 cm, 190cm, 200 cm, 220 cm, 250 cm, or 300 cm. Optionally, the greatestdimension of the UAV may be greater than or equal to any of the valuesdescribed herein. The UAV may have a greatest dimension falling within arange between any two of the values described herein.

The UAV 101 may be lightweight. For example, the UAV may weigh less thanor equal to 1 mg, 5 mg, 10 mg, 50 mg, 100 mg, 500 mg, 1 g, 2 g, 3 g, 5g, 7 g, 10 g, 12 g, 15 g, 20 g, 25 g, 30 g, 35 g, 40 g, 45 g, 50 g, 60g, 70 g, 80 g, 90 g, 100 g, 120 g, 150 g, 200 g, 250 g, 300 g, 350 g,400 g, 450 g, 500 g, 600 g, 700 g, 800 g, 900 g, 1 kg, 1.1 kg, 1.2 kg,1.3 kg, 1.4 kg, 1.5 kg, 1.7 kg, 2 kg, 2.2 kg, 2.5 kg, 3 kg, 3.5 kg, 4kg, 4.5 kg, 5 kg, 5.5 kg, 6 kg, 6.5 kg, 7 kg, 7.5 kg, 8 kg, 8.5 kg, 9kg, 9.5 kg, 10 kg, 11 kg, 12 kg, 13 kg, 14 kg, 15 kg, 17 kg, or 20 kg.The UAV may have a weight greater than or equal to any of the valuesdescribed herein. The UAV may have a weight falling within a rangebetween any two of the values described herein.

One or more components of the UAV may be powered by a battery. Forexample the entire UAV may be powered by a battery or only a propulsionunit, controller, communication unit, Inertial Measure Unit (IMU),and/or other sensors may be powered by a battery. Battery can refer to asingle battery or a pack of two or more batteries. An example of abattery may include a lithium ion battery, alkaline battery, nickelcadmium battery, lead acid battery, or nickel metal hydride battery. Thebattery may be a disposable or a rechargeable battery. The life time ofthe battery (i.e. amount of time it will provide power to the UAV beforeneeding a recharge) may vary; the life time may be at least 1 min, 5min, 10 min, 15 min, 30 min, 45 min, 1 hr, 2 hrs, 3 hrs, 4 hrs, 5 hrs,or 10 hrs. The battery life may have a duration greater than or equal toany of the values described herein. The battery life may have a durationfalling within a range between any two of the values described herein.

A battery may be coupled to the UAV to provide power to the UAV by anelectrical connection. Any description herein of a battery may apply toone or more batteries. Any description of a battery may apply to abattery pack, and vice versa, where a battery pack may include one ormore batteries. Batteries may be connected in series, in parallel, orany combination thereof. An electrical connection between a UAV and abattery or a component of a UAV and a battery may be provided. Anelectrical contact of a battery may contact an electrical contact of theUAV. The UAV may have recessed region on its body to house the battery.FIG. 3 shows an example of a UAV 301 with a recessed region 302configured to house a battery 303 in the body of the UAV 304. Therecessed region may have equal or non-equal length, width and depth.Possible values for the length, width, and depth of the recessed regionmay be at least 1 mm, 5 mm, 1 cm, 3 cm, 5 cm, 10 cm, 12 cm, 15 cm, 20cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50 cm, 55 cm, 60 cm, 65 cm, 70cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm, or 100 cm. The recessed regionmay be configured to hold one or more batteries. The recessed region maycontain electrical contacts to connect the battery to the UAV powersystem. Additionally the recessed region may comprise electricalconnections to communicate with a sensor which may dynamically read andrecord the remaining charge on the battery. The recessed region mayinclude one or more electrical contacts that may be in electricalcontact with the battery onboard the UAV. The electrical contacts may becoupled to the battery while it is inside of the recessed region, if thebattery is removed the contact may be disconnected from the battery.

The method of swapping of a battery on a UAV by an energy provisionstation may include the steps of landing the UAV at the energy provisionstation, removing an on-board battery from the UAV using a component ofthe energy provision station, exchanging the on-board battery foranother battery provided at the energy provision station, coupling theother battery to the UAV, and causing the UAV to take off of from theenergy provision station. All or any one of these steps may be fully orpartially automated.

An example of a method of battery exchange is shown in the flow chart inFIG. 4. The steps described in FIG. 4 may occur in the order shown, orthe steps may occur out of order. The method of battery exchange mayinclude all of the steps listed or a subset of the steps listed.Initially the UAV may land on a landing area on the energy provisionstation 401. After the UAV lands, the depleted battery may be removed bya mechanism on the energy provision station. The energy provisionstation may employ a robotic arm to remove the depleted battery from theUAV 402. Upon being removed, the depleted battery may be stored in abattery storage unit. The battery storage unit may comprise a containerfor the battery, the container may include electrical connectionsconfigured to provide charge to the battery. An example of a batterystorage area may be a carousel on board the energy provision station403. The carousel may be configured such that it may rotate to carryaway the depleted battery and place a charged battery in line with amechanism configured to install the charged battery on the UAV. In someexamples, such a mechanism may be a robotic arm 404. The robot arm thattransports the charged battery to the UAV may be the same robotic armthat removes the depleted battery from the UAV. After rotation of thecarousel, the robotic arm may install the charged battery in the UAV405. The final step may be for the UAV to take off from the landing areawith a fully charged battery on board 406.

The UAV may communicate with an energy provision station. For example,the UAV may transmit information to the energy provision stationregarding the state of the battery on board the UAV, the current flightconditions, time or distance remaining on current mission, distance tothe next energy provision station, battery specifications, state ofbattery charge (e.g. remaining power estimate), battery temperature, UAVspecifications, or flight plan (e.g. estimated arrival at the nextenergy provision station and/or estimated time of arrival at finaldestination). The UAV may also communicate information to the energyprovision station describing the state of the UAV. For example the UAVmay communicate information describing system failures or descriptionsof damaged parts (e.g. broken propeller) to the energy provisionstation. The UAV may carry a payload. The UAV may communicate the weightof the pay load. Additionally the UAV may communicate to the energyprovision station when in the flight plan the UAV plans to load orunload the payload.

In response to information from the UAV or independent of communicationfrom the UAV the energy provision station may communicate information tothe UAV. The energy provision station may inform the UAV as to whetheror not it is available to provide the UAV with a charged battery. Forexample, the energy provision station may be depleted of chargedbatteries or the energy provision station may be occupied by anotherUAV, in these instances the energy provision station may instruct theUAV to continue on to the next closest energy provision station. Inanother case the energy provision station may instruct the UAV tocontinue to the next closest energy provision station in the case ofadverse weather conditions (e.g. wind, rain, snow) or a mechanical orelectrical failure on the energy provision station. The energy provisionstation may transmit updated route instruction to the UAV to direct theUAV to the next energy provision station. Alternatively, when the energyprovision station is available for charging, the energy provisionstation may instruct the UAV to land on the station.

In the case of low battery charge, the UAV may be directed to land atthe energy provision station. An instruction to land on the energyprovision may be transmitted by the energy provision station. If thecharge of the battery is too low to permit the UAV to meet the UAV'stime or distance remaining on the UAV's current mission, or the UAVflight plan, the UAV may be directed to land at the energy provisionstation. UAV operating parameters, such as expected rate of energyconsumption, or current rate of energy consumption, may be taken intoaccount. For example, a UAV may be flying in a relatively low power′mode where one or more of the sensors are not in operation, but it maybe anticipated that the UAV may employ more of the sensors later inflight. The anticipated increased rate of energy consumption may affectthe anticipated rate of battery charge depletion, which may be takeninto account when determining whether the UAV needs to land at theenergy provision station. Optionally, the UAV may be directed to land atthe energy provision station if the state of charge of the battery fallsbeneath a predetermined threshold. Additionally the UAV may beinstructed to land on the energy provision station if a mechanical orelectrically system on board the UAV is in need of repair (e.g. brokenpropeller, short in electrical component).

Landing on an energy provision station may be predetermined by a UAVsflight plan. For example a UAV instructed to travel from point A topoint B may have a planned stop at an energy provision station halfwaybetween point A and point B. The decision to land at an energy provisionstation as part of the flight plan may be contingent on the energyprovision station being unoccupied. For example, energy provisionstation halfway between point A and point B is occupied by another UAVthe UAV may alter its flight plan to continue on to the next energyprovision station as long as the power remaining on the battery issufficient to reach the next energy provision station.

When more than one UAV identifies an energy provision station with theintent of landing on the energy provision station the UAVs may beentered into a queue. The UAVs in the queue may wait for access to theenergy provision station. The UAVs in the queue may be ordered such thatUAVs in urgent need of aid from the energy provision station (e.g. thosewith mechanical failures and/or critically low batteries) may beattended to before UAVs in less need of aid from the energy provisionsstation. The UAVs in the queue may be ranked by layers or they may beranked based on a system of weighing various factors. In the case ofranking by layers, the primary layer may be the mechanical or electricalstatus of the UAV, the secondary layer may be the energy remaining onthe UAV's battery, and the tertiary layer may be how long the UAV hasbeen waiting for aid from the energy provision station. The layers maybe used to rank the UAVs in the queue. Alternatively, in the weightingsystem factors such as the mechanical or electrical status of componentsof the UAV, the power storage remaining on the battery of the UAV, andhow long the UAV has been waiting in the queue may be considered. Aweighted average (e.g. a score) of the aforementioned factors may beused to determine a UAVs location in the queue.

An interaction between a UAV and an energy provision station may followthe procedure outline in FIG. 21. The interaction may include all thesteps shown in FIG. 21 or a subset of these steps, the steps may occurin the order shown or in an alternate order. First the UAV may detectthe energy provision station 2101. The detection of the energy provisionstation by the UAV may be in response to a known GPS signal indicatingthe location of the energy provision station, a visual detection, or anaudio detection. The UAV may exchange information with the energyprovision station 2102, for example the UAV may communicate informationregarding the state of the UAV and/or the battery. The energy provisionstation may provide the UAV with information regarding the state of theenergy provision station. Based on the information exchange the UAV maydetermine if it should land on the energy provision station or continueon its flight path 2103. If the UAV decides to land on the energyprovision station it may enter a queue of UAVs waiting to land on theenergy provision station 2104. When the UAV is the first UAV in thequeue and the energy provision station is unoccupied by another UAV theUAV may land on the energy provision station 2105.

The UAV may identify an energy provision station landing area by sensinga marking, for example a marking may be a raised pattern, a recessedpattern, an image, a symbol, a decal, a 1-D, 2-D, or 3-D barcode, a QRcode, or lights visible on the energy provision station landing area.The marking may indicate that the energy provision station has chargedbatteries available. For example the marking may be a light or patternof lights, the lights may be turned on only when the energy provisionstation has charged batteries available.

The UAV may take off and land on the energy provision station landingarea vertically. The landing area may comprise recessed mating featuresto guide the UAV during landing. The mating features may decrease theneed for accuracy when landing the UAV on the landing area. The recessedfeatures may be configured to mate with a wide variety of UAVs,alternatively the mating features may be specific to a single UAVmanufacturer, single UAV fleet, or one particular UAV.

Communication between the UAV and the energy provision station may beused to get the UAV to the general location of the energy provisionstation. Communication between the UAV and the energy provision stationmay occur wirelessly. The UAV may employ GPS or other locating softwareto locate the energy provision station. The GPS or other locationtechniques can be used to get the UAV to the vicinity of the energyprovision station. The wireless communications may get the UAV withinrange to sense one or more portions of the energy provision stations.For instance, the UAV may be brought into a line-of-sight of the energyprovision station. The landing area marker or markers may aid in furtherpinpointing the location of the energy provision station. The marker mayserve as a confirmation of the energy provision station on which the UAVmay land. The markers may also differentiate the energy provisionstation or a landing area of an energy provision station from otherobjects or regions.

The marker may be useful for indicating a landing position of the UAV onthe energy provision station. The marker may be used as a fiducialmarker, which may aid the UAV in navigating to a proper landing positionon the energy provision station. In some examples, multiple markers maybe provided which may aid the UAV in landing in a desired position. Insome instances, it may also be desirable for a UAV to have a particularorientation when docking with the energy provision station. In oneexample, the marker may include an asymmetric image or code that may bediscernible by the UAV. The fiducial may be indicative of theorientation of the energy provision station relative to the UAV. Thus,the UAV may be able to orient itself properly when landing on the energyprovision station. The marker may also be indicative of the distance ofthe energy provision station relative to the UAV. This may be usedseparate from or in combination with one or more other sensors of theUAV to determine the altitude of the UAV. For example, if the size ofthe fiducial marker is known, the distance from the UAV to the markermay be gauged depending on the size of the marker showing up in thesensors of the UAV.

In one example, the marker may be provided at a particular locationrelative to a desired landing spot of the UAV on the energy provisionstation. This may be at a particular location relative to a desiredlanding spot on a landing area of an energy provision station. The UAVmay be capable of landing on the landing area with great precision. Themarker may help guide the UAV to the exact desired spot. For instance,the marker may be located 10 cm in front of the center of the desiredlanding point of the UAV. The UAV may use the marker to guide the UAV tothe exact landing spot. In some examples, multiple markers may beprovided. The desired landing spot may fall between the multiplemarkers. The UAV may use the markers to help orient the UAV and/orposition its landing between the markers. Distance between the markersmay aid the UAV in gaging the distance of the UAV to the landing area.

The marker may be provided anywhere on the energy provision station orlanding area. The marker may be placed in a location such that it iseasily discernable from above. In some instances, the marker may beprovided on an exterior surface of the energy provision station. Themarker may include a wireless signal being emitted by an energyprovision station. The origin of the signal may be from outside theenergy provision station or inside the energy provision station.Alternatively the energy provision station may emit IR and/or UV light,radio, or audio signals.

The marker may be positioned near where the UAV may dock with the energyprovision station. In one example, the marker may be positioned lessthan about 100 cm, 90 cm, 80 cm, 75 cm, 70 cm, 65 cm, 60 cm, 55 cm, 50cm, 45 cm, 40 cm, 35 cm, 30 cm, 25 cm, 20 cm, 15 cm, 12 cm, 10 cm, 8 cm,7 cm, 6 cm, 5 cm, 4 cm, 3 cm, 2 cm, or 1 cm from where the UAV lands onthe energy provision station.

Data pertaining to the detected marker may be provided to one or moreprocessors. The processors may be on board the UAV. Based on thedetected information about the detected marker, the processors may,individually or collectively, generate a command signal. The commandsignal may drive the propulsion units of the UAV. For example, thepropulsion units may be driven to cause the UAV to land on the energyprovision station with the detected marker, when the detected marker isdetermined to belong to the energy provision station. The detectedmarker may indicate the state of charge of the stored batteries at theenergy provision station. For example if the energy provision stationhas a fully charged battery available the detected marker may result ina command from the processor to land the UAV. In another example if theenergy provision station does not have a charged battery available thedetected marker may result in a command from the processor to continuetraveling to the next energy provision station. Thus, a UAV may be ableto land in an autonomous or semi-autonomous fashion in response to adetected marker. The UAV may be capable of landing without receiving anycommands or manual input from a user.

In some embodiments, sensors on board the UAV may be used to detect themarker, and processing may occur on-board the UAV. The UAV may becapable of landing itself on the energy provision station withoutrequiring further guidance or information from the energy provisionstation once the UAV has confirmed that the marker belongs to the energyprovision station.

An energy provision station may include a marker, and one or morecoupling connection components. The energy provision station may sendinformation about its location to a UAV. The energy provision stationmay have a location unit capable of determining positional information.An energy provision station may receive information from the UAV aboutthe location of the UAV and the state of the battery on board the UAV.For example, coordinate information, such as GPS coordinates, for theUAV may be provided to the energy provision station. In another examplethe UAV may communicate the remaining charge percentage of the batterycurrently in use on the UAV. The energy provision station may have acommunication unit capable of communicating with the UAV. The energyprovision station may have a processor capable of identifying and/orcalculating a location of the UAV. Furthermore, the energy provisionstation may have a processor capable of identifying and/or calculating alocation of the next nearest battery exchange station. For example a UAVmay communicate to an energy provision station that the batterycurrently on board the UAV has a remaining charge percentage of 18%, theprocessor at the energy provision station may determine the distance tothe next battery exchange station in the UAV's flight path to determineif the UAV should stop for recharging or continue to the next energyprovision station.

FIG. 5 shows a possible embodiment of an energy provision station. Theenergy provision station may have three basic components: a batteryreplacement member 501, a UAV landing area 502, and a battery storageunit 503. The battery replacement member may be a mechanical arm 501that may be configured to remove a battery from a UAV and/or to place acharged battery in the UAV. In some instances, the mechanical arm mayboth remove the battery from the UAV and place a charged battery in theUAV. Alternatively, different mechanical components may be used toremove the battery form the UAV and to place a charged battery in theUAV. The mechanical arm may have at least 1, 2, 3, 4, 5, or 6 degrees offreedom. The mechanical arm may move autonomously or semi autonomously.

The UAV landing 502 area may comprise markers that may be uniquelyrecognized by an approaching UAV. The landing area may comprise apassive landing guide 504. The passive landing guides may be configuredto interact with a component of a UAV as it lands to guide the UAV to afinal resting position. The UAV may include a landing stand that may fitinto a passive landing guide and be guided to the final restingposition. The UAV may include a surface upon which the UAV may land. TheUAV may rest on the surface, or all or a majority of the weight of theUAV may be borne by the passive landing guides.

The battery storage unit 503 may store a plurality of batteries. Thebattery storage unit may simultaneously store and charge the storedbatteries. The battery storage unit may move the batteries relative toeach other. The battery storage unit may move the batteries relative tothe UAV landing area and/or a UAV on the landing area. Multiplebatteries may be moved simultaneously using the battery storage unit.When a UAV lands on the energy provision station, a fully chargedbattery may be in a location such that the mechanical arm 501 mayinstall the battery on the UAV. For instance, a mechanical arm may bringa depleted battery from a UAV to a particular location relative to thebattery storage unit. The battery storage unit may accept the depletedbattery. The battery storage unit may cause movement of the batteries sothat a different battery (e.g., fully charged battery) is moved to thelocation where the depleted battery was accepted. The mechanical arm mayreceive the different battery. In some instances, the movement mayinclude rotation of the battery storage unit about an axis.

The UAV landing area of the energy provision station may be configuredto comprise a passive landing guide. The UAV may have at least oneprotruding feature which may mate with a corresponding cavity on thelanding area of the energy provision station. For example the UAV mayhave four round conical stoppers which may fit inside of four roundconical indentations on the landing area. The protruding feature may bea launch stand configured to bear a weight of the UAV. FIG. 6 shows anexample of a UAV 601 landing on an energy provision station 602 suchthat the conical stoppers 603 mate with the conical indentations 604 onthe landing area. In an alternative embodiment, the stopper and theindentation may comprise a variety of other mating shapes. The stoppermay be made from rubber, plastic, metal, wood, or composite. The stoppermay have a height and width of less than or equal to 1 mm, 5 mm, 1 cm, 3cm, 5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm,50 cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm, or100 cm. The indentations may have corresponding dimensions such thatthey are adapted to fit the stopper.

In another example the UAV may comprise a protrusion that does notidentically mate with an indentation on the landing area. In thisexample, the UAV may have a feature protruding from the bottom of theUAV designed such that it is smaller than the indentation on the landingarea. The protruding feature on the bottom of the UAV may fit into theindentation. In a specific example of this configuration, the UAV mayhave a protruding rod and the landing area may have a conicalindentation. Upon landing, the protruding rod may be funneled into thebottom of the conical indentation. For instance, if a protruding rodhits a side of the indentation, gravity may cause the protruding rod toslide to the bottom of the indentation. FIG. 7 shows a detailed side(left) and top (right) view of a possible embodiment of the landing area701 with a docked UAV 702 showing a protruding rod fitting inside of aconical indentation 703. Optionally, the protruding rod may be a landingstand of the UAV. The protruding rods may bear the weight of the UAVwhile the UAV is resting on the landing area. The indentations may bearthe weight of the protruding rods and/or the UAV while the UAV isresting on the landing area.

The passive landing guide may reduce the need for high precision controlof the UAV landing procedure. The passive landing guide may beconfigured such that the UAV may corrected if it approaches the stationin such a way that it is off set from the desired landing location. Thepassive landing guide may bring the UAV into the desired location withthe aid of gravity. FIG. 8 shows an example of how the passive landingguide may correct the UAV if it approaches the landing location with anoff set. In the example shown in FIG. 8 the UAV approaches the landingguide off set to the right (1). The UAV partially mates with the passivelanding guide, after contact with the landing guide the UAV may slidedownward into the correct location (2). This process of correcting theUAV to the correct landing location may rely on gravity and may notintroduce a need for a moving part or additional mechanism.

Alternatively the UAV may locate the energy provision station using realtime kinematics (RTK). RTK location methods may require both the UAV andthe energy provision station to emit a satellite signal, for example aGPS signal. RTK may allow the UAV to locate the correct docking locationon the energy provision station with accuracy within 10 cm, 9 cm, 8 cm,7 cm, 6 cm, 5 cm, 4 cm, 3 cm, 2 cm, 1 cm, or less than 1 cm.

The energy provision station may comprise a battery storage system. Thebattery storage system may be a carousel. The batteries in the batterystorage system may be fully charged, partially charged, or depleted ofcharge. The batteries may be connected to a source of electrical powerto restore them from a depleted or partially charged state to a state offull charge. The batteries may be identical in size, shape, and batterytype (e.g. lithium ion, nickel cadmium). Alternatively, differentbattery sizes, shapes or types may be accommodated. The battery storagesystem may be configured to store at least 2, 3, 4, 5, 6, 7, 8, 9, 10,15, 20, 25, 30, 35, 40, 45, or 50 batteries. In some embodiments, thebattery system may store less than any of the number of batteriesdescribed. The battery system may store a number of batteries fallingwithin a range between any two of the values described.

The battery storage system may comprise individual ports for eachbattery. The ports may be movable relative to each other. Multiple portsmay move simultaneously. The ports may rotate about an axis clockwise,counterclockwise, or in both rotational directions. The axis of rotationmay be horizontally oriented (e.g., parallel to an underlying surface orground, perpendicular to the direction of gravity), or verticallyoriented (e.g., perpendicular to an underlying surface or ground,parallel to the direction of gravity). The ports may translate in anydirection. Optionally, they may translate and rotate simultaneously. Theports may have electrical connections which may connect to the processorto meter the charge available on the battery or they may connect to anelectricity source to charge the battery. The electricity source may beon board or off board the energy provision station. For example theelectricity source may be an electric generator, a rechargeable battery,a disposable battery, or a connection to a distributed power line.Alternatively the ports may charge the batteries inductively(wirelessly). Multiple charging interfaces may be accommodated by theenergy provision station such that the station can charge a variety ofbattery types and voltages. The energy provision station may bepermanently installed or it may be temporary. In the case of a temporaryenergy provision station, the station may be configured to be portableand may be carried away by a user.

The stored batteries may move relative to each other. In one example thebatteries may move relative to each other in a carousel. FIG. 9 shows anexample of a possible battery carousel 901 for use in the batterystorage system. The carousel shown in FIG. 9 can hold 8 batteries 902.Alternatively a carousel may be chosen such that it can hold at least 4,5, 6, 7, 8, 9, 10, 15, 20, 25, 30, 35, 40, 45, or 50 batteries. Thecarousel may be configured to hold fewer batteries than values describedherein or the carousel may be configured to hold a number of batterieswithin a range between any two of the values described herein. Thebatteries in the carousel may be identical in size, shape, voltage, andcomposition. Each battery may be stored in a compartment 903. Thebattery may slide in and out of the compartment during installation andremoval from a UAV. For instance, the battery may slide and outlaterally via a side opening of the compartment. The battery may be ableto lock into the compartment during storage. A battery may be charged onboard the UAV or a battery may be charged in the storage compartment inthe battery storage system. The battery storage compartment may beconfigured to provide electrical charge to the battery throughelectrical contacts. FIG. 10 shows an example of a possible batterystorage compartment 1001 with electrical contacts configured 1002 toprovide charge to a battery. The electrical contacts may be connected toa power source 1003 off board the battery. The battery may besimultaneously connected to a meter to determine when the battery chargeis complete. The container may provide only enough electrical power tocharge or partially charge the stored battery. The battery storagecompartment may be part of a carousel or other battery storage unit. Thebattery storage compartment may be movable relative to other portions ofan energy provision station.

The battery carousel 901 may rotate about a shaft 904. The carousel mayrotate counter-clockwise or clockwise. The carousel may be able torotate in either both directions or only one direction. The rotation maybe driven by an actuator, such as a motor. The actuator may receive acommand signal from a controller on-board or off-board the energyprovision station that controls movement of the battery storage system.The carousel may be configured perpendicular to the base of the energyprovision station 905. For instance, the length of the shaft may beparallel to the base of the energy provision station. Alternatively thecarousel may be oriented parallel to the base of the base of the energyprovision station or at any other angle relative to the base of theenergy provision station. FIG. 11 shows a possible embodiment of thecomplete energy provision station. FIG. 11 shows that the landing area1101 may be placed on top of the carousel 1102. The battery carousel maybe partially or completely enclosed by a housing.

The battery storage system may be driven by an actuator to rotate. Thebattery storage system may include a steering lock, so that the batterystorage can be locked when needed to prevent it from rotating and fix itat the desired position. The steering lock may be located at the bottomof the carousel, the top, or along the sides.

The energy provision station may comprise a mechanism configured to movethe batteries. The mechanism may be an automated battery replacementmember. The mechanism may be a robotic arm, actuator, or a pulley. Themechanism may be a mechanical elevator. In one embodiment, the mechanismconfigured to move the batteries may be a robotic arm. The robotic armmay have at least 2 degrees of freedom. For example a robotic arm having2 degrees of freedom may be able to move (1) horizontally and (2)vertically. The up and down motion may be achieved by a linear actuator,or any other type of actuator. The horizontal motion may be achieved bya rack and pinion mechanism driven by an actuator. The horizontal motionmay be a linear motion. The horizontal actuator may be installed on avertical motion actuator such that the robotic arm may vertically andthen horizontally. Optionally, the robotic arm may permit a battery tomove vertically and/or horizontally without causing any rotation of thebattery. The battery may be translated without being rotated by therobotic arm. In alternative embodiments, the robotic arm may permitrotation or change in orientation of the battery.

The mechanism configured to move the batteries may comprise an endmember adapted to attach to the battery to be removed from the UAV. Forexample the end member may be a magnet, a hook, or a suction device. Ina preferred embodiment the end member may be a clamp. The clamp may beinstalled on the forward and back module such that the robotic arm maymove forward or back and then clamp or release a battery. The clampingmotion may be driven by a steering gear and linkage system. The clampmay attach to the battery by compressing the battery between two sidesof the clamp with sufficient pressure to hold the battery, alternativelythe battery and the clamp may comprise complimentary mating features. Anexample of a complimentary mating feature may be a peg and a hole.Similar mating features may be used to hold the batteries in the batterystorage unit.

FIG. 12 shows a schematic of a possible robotic arm. The robotic arm maybe raised from the base of the energy provision station by a post 1201.The robotic arm may be configured to move up and down along the post.The robotic arm may move up and down autonomously or semi autonomously.The robotic arm may be attached to the post via a second rail 1202 onwhich it may be configured to move forward and back. The robotic arm maymove forward and back autonomously or semi autonomously. The thirdfeature of the robotic arm may be a terminal clamp 1203. The terminalclamp may have a c shaped opening which may open towards the recessedbattery of a docked UAV. The terminal clamp may open and close, it maybe able to attach to a battery.

FIG. 13 shows a detailed view of an embodiment of a robotic arm. Theexample shown in FIG. 13 depicts a clamp 1301 mounted on a rack andpinion mechanism 1302. The clamp may be oriented horizontally, so thatends of the clamp grid onto the sides of the battery. The clamp mayinclude a portion in the rear 1303 that may rotate, thereby causing theends of the clamp 1304 to move closer together or further apart. Therear control portion may rotate with aid of an actuator, that mayoperate in response to a command signal from a controller on-board oroff-board the energy provision station.

FIG. 14 provides a complete view of the robotic arm including the clamp1401 mounted on a rack and pinion mechanism 1402. The assemblycomprising the clamp and rack and pinion supported on an actuator 1403configured to move the assembly in a vertical up and down path. Inaddition to vertical motion the entire assembly may also be rotatedclockwise or counterclockwise about a pivot point 1404. The pivot pointmay be oriented so that the entire assembly may rotate about a verticalaxis of rotation. This may permit the assembly to change orientation. Insome instances, the assembly may rotate about a limited range. In someinstances, the robotic arm may not rotate about an axis, it may be fixedrotationally.

In some instances the robotic arm may be employed in the landing of theUAV on the energy provision station instead of or in addition toswapping the battery on board the UAV. The UAV may approach the energyprovision station, when the UAV is sufficiently close to the energyprovision station the robotic arm may attach to the UAV and place theUAV in a preferred location for battery swapping on board the energyprovision station. The robotic arm may detect the UAV using a sensor onthe robotic arm, for example, the sensor may be a vision sensor, amotion sensor, an audio sensor, or any other sensor configured to detecta UAV in proximity to the robotic arm. The robotic arm may attach to thebody of the detected UAV, the robotic arm may attach to the UAV usingthe terminal c shaped clamp. Alternatively the robotic arm may attach tothe UAV magnetically, with Velcro, or by achieving positive matingbetween complimentary mating features on the UAV and the robotic arm.The UAV may turn off its rotors after being sized or grasped by therobotic arm.

The robotic arm may be specifically configured to seize the UAV from theair to place the UAV on the energy provision station. The robotic armmay telescope vertically from the energy provision station such that itmay be in the proximity of a UAV approaching the energy provisionstation. The robotic arm may be raised at least 6 inches, 12 inches, 24inches, 36 inches, 48 inches or 60 inches above the landing area of theenergy provision station. The robotic arm may be raised above the energyprovision station to detect an approaching UAV using a visual sensor.Additionally the robotic arm may rotate about an axis such that it canturn to face an incoming UAV. The robotic arm may move vertically,horizontally, and rotationally about a vertical and/or horizontal axis.Alternatively the robotic arm may be raised above the energy provisionstation after the GPS or RTK system on the energy provision station hasdetected a UAV in proximity of the energy provision station. Once therobotic arm is raised it may grasp an incoming UAV and then lower to thelevel of the landing area to place the UAV on the landing area of theenergy provision station.

FIG. 15 shows the complete energy provision station assembly includingthe landing area 1501, battery storage system 1502, and the robotic arm1503. In the embodiment shown in FIG. 15 the battery storage system isbelow the landing area and the robotic arm is adjacent to the batterystorage system and landing area such that it is adapted to access bothregions of the energy provision station. The robotic arm may movevertically between the UAV landing area and the battery storage systemwhile performing a battery switching procedure. Optionally, a notch oropening 1504 may be provided on the UAV landing area that may permit therobotic arm and/or battery to traverse the region between the UAVlanding area and the battery storage system.

The energy provision station may provide charge to the battery onboardthe UAV. The energy provision station may provide charge to battery onboard the UAV without removing the battery from the recessed region inthe body of the UAV. Charge may be provided to the battery on board theUAV from a power source on board or off board the energy provisionstation. FIG. 16 shows an example of a battery 1601 on board a UAV 1602receiving charge from an energy provision station 1603. In the examplein FIG. 16 a power source 1604, which may be located on board or offboard the energy provision station 1603, provides power to the battery1601 by means of an electrical pathway 1605. The electrical pathway mayinclude an electrical connection 1606 on the landing area 1607.Alternatively, the electrical pathway may take any path between abattery on-board the UAV and the power source. The electrical connection1606 may be recessed in the landing area 1607. The electrical connection1606 may be configured to move out of the recession and mate with abattery when instructed by a processor to provide charge to the batteryon board the UAV. Alternatively, the electrical connection may beprovided separately from the landing area and may or may not contact thelanding area. The UAV may include an electrical contact that may connectwith a corresponding electrical contact for a charging apparatus thatconnects the power source to the battery.

A UAV may locate an energy provision station from the air. Upon locatingthe energy provision station the UAV may communicate with the energyprovision station to determine if the UAV should approach and land onthe energy provision station to initiate a battery switching procedure.A battery life reloading procedure may initiate when a UAV docks on thelanding area of an energy provision station. Reloading battery life on aUAV may include increasing the overall battery state of charge for theUAV. This may include (1) recharging the existing battery while thebattery is on-board the UAV, (2) removing the existing battery from theUAV, recharging the existing battery off-board the UAV, and coupling theexisting battery back with the UAV, or (3) removing the existing batteryfrom the UAV, taking a new battery with a higher state of charge, andcoupling the new battery with the UAV. The UAV docked on the landingarea may communicate with a processor on board the energy provisionstation. Alternatively, the UAV may communicate remotely with aprocessor off board the energy provision station. The processor maydetermine the remaining charge on the battery currently in use on theUAV by communicating with a sensor in contact with the battery. Theremaining charge on the battery may be sensed by a voltmeter. Based onthe % of remaining charge on the battery the processor may initiate aresponse which may include swapping the battery for a fully chargedbattery from the storage system or charging the current battery. Thedecision to charge or swap the battery onboard the UAV may be based on athreshold percentage of remaining charge. The threshold value may be50%, 40%, 30%, 20%, 10%, or 5% remaining charge. The threshold may befixed, or it may be variable as a function of battery age, battery type,flight conditions, ambient temperature, or distance to the next energyprovision station. After determining an optimal response the batteryswap or charge may take place at the energy provision station. When thebattery swap or charge has completed the processor may indicate that theUAV may take off from the landing area.

FIG. 17 shows a flow chart outlining a decision process carried out byone or more processors, individually or collectively, when a UAVapproaches a landing area. As the UAV detects an energy provisionstation in its vicinity it may communicate with energy provisionstation. The UAV may communicate variables such as flight time, flightdistance, time since last charge, or distance remaining on mission tothe energy provision station 1701. Based on this information, theprocessors, which may be on-board or off-board the energy provisionstation, may instruct the UAV to land on the energy provision stationfor further assessment 1702. Once the UAV has docked on the landing areathe energy provision station may measure the remaining charge on thebattery 1703. If the charge is above a pre-determined threshold theenergy provision station may provide a charge to the battery currentlyon board the UAV 1704. If the battery is below a threshold chargepercentage the energy provision station may initiate a battery switchingprocedure 1705 to replace the battery on board the UAV with a fully orpartially charged battery from the battery storage system.

Instruction to swap or charge the battery on board the UAV may be basedentirely on the remaining charge on the battery relative to apre-determined threshold value or the instructions may be based on oneor more other factors. For example the current charge on the batteriesin the battery storage system may influence the instructions. Forexample, the number of available batteries in the battery storage mayinfluence the instructions. If no batteries are available, then thebattery may be charged on-board, regardless of state of charge. If onlya single battery is available, the state of charge of the on-boardbattery may be compared with the single battery provided by the batterystorage system. The battery storage battery charge may affect theinstruction to swap or charge the battery such that if the energyprovision station has only partially charged batteries in the storagesystem the processor may give the instruction to charge the battery onboard the UAV rather than replacing the battery with a partially chargedbattery. In another example the time required to swap the battery may beconsidered in comparison to the time required to charge the battery. Adecision to swap the battery or charge the battery may be chosen suchthat the required time is optimized. Other factors that may influencethe outcome of the instruction from the processor may include the numberof other UAV's detected in the vicinity by the energy provision station,the mission of the UAV landed on the energy provision station, and/orthe current flight conditions (e.g. head wind, tail wind, temperature).

The battery switching procedure may employ the robotic arm mechanism.The first step in the procedure may be for the robotic arm to movevertically so that is may be in line with a recessed battery receptaclewhich may be the location of the battery to be removed from the UAV.Next the robotic arm may move horizontally to approach the battery to beremoved from the UAV. When the robotic arm is sufficiently within theproximity of the battery to be removed from the UAV, the clamp may openand close to attach to the battery. Once the robotic arm has attached tothe battery the arm may retreat horizontally from the UAV and movevertically to be in line with an empty storage receptacle in the batterystorage system. The robotic arm may place the depleted battery removedfrom the UAV into the empty storage receptacle in the battery storagesystem. Next the battery storage system may rotate so that a charged orpartially charged battery is in line with the robotic arm. The roboticarm may repeat the steps used to remove the battery from the UAV inorder to remove the charged or partially charged battery from thebattery storage system. After the robotic arm has clamped on to acharged or partially charged battery the robotic arm may move verticallyto be in line with the UAV recessed battery receptacle. The robotic armmay then move horizontally to push the charged or partially chargedbattery into the recessed battery onboard the UAV. When the battery isfitted in to the recessed battery receptacle the robotic arm may thenrelease the clamp on the battery and retreat from the UAV. After therobotic arm retreats the UAV may take off vertically from the landingarea and continue its mission.

The systems, devices, and methods described herein can be applied to awide variety of movable objects. As previously mentioned, anydescription herein of an aerial vehicle, such as a UAV, may apply to andbe used for any movable object. Any description herein of an aerialvehicle may apply specifically to UAVs. A movable object of the presentinvention can be configured to move within any suitable environment,such as in air (e.g., a fixed-wing aircraft, a rotary-wing aircraft, oran aircraft having neither fixed wings nor rotary wings), in water(e.g., a ship or a submarine), on ground (e.g., a motor vehicle, such asa car, truck, bus, van, motorcycle, bicycle; a movable structure orframe such as a stick, fishing pole; or a train), under the ground(e.g., a subway), in space (e.g., a spaceplane, a satellite, or aprobe), or any combination of these environments. The movable object canbe a vehicle, such as a vehicle described elsewhere herein. In someembodiments, the movable object can be carried by a living subject, ortake off from a living subject, such as a human or an animal. Suitableanimals can include avines, canines, felines, equines, bovines, ovines,porcines, delphines, rodents, or insects.

The movable object may be capable of moving freely within theenvironment with respect to six degrees of freedom (e.g., three degreesof freedom in translation and three degrees of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more degrees of freedom, such as by apredetermined path, track, or orientation. The movement can be actuatedby any suitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being.

In some instances, the movable object can be an aerial vehicle. Forexample, aerial vehicles may be fixed-wing aircraft (e.g., airplane,gliders), rotary-wing aircraft (e.g., helicopters, rotorcraft), aircrafthaving both fixed wings and rotary wings, or aircraft having neither(e.g., blimps, hot air balloons). An aerial vehicle can beself-propelled, such as self-propelled through the air. A self-propelledaerial vehicle can utilize a propulsion system, such as a propulsionsystem including one or more engines, motors, wheels, axles, magnets,rotors, propellers, blades, nozzles, or any suitable combinationthereof. In some instances, the propulsion system can be used to enablethe movable object to take off from a surface, land on a surface,maintain its current position and/or orientation (e.g., hover), changeorientation, and/or change position.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. The movableobject may be controlled remotely via an occupant within a separatevehicle. In some embodiments, the movable object is an unmanned movableobject, such as a UAV. An unmanned movable object, such as a UAV, maynot have an occupant onboard the movable object. The movable object canbe controlled by a human or an autonomous control system (e.g., acomputer control system), or any suitable combination thereof. Themovable object can be an autonomous or semi-autonomous robot, such as arobot configured with an artificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, height, diameter, diagonal) of less thanor equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Themaximum dimension may be greater than or equal to about: 2 cm, 5 cm, 10cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance betweenshafts of opposite rotors of the movable object may be less than orequal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Alternatively, the distance between shafts of opposite rotors may begreater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m,or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³3, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail elsewhere herein. In someexamples, a ratio of a movable object weight to a load weight may begreater than, less than, or equal to about 1:1. In some instances, aratio of a movable object weight to a load weight may be greater than,less than, or equal to about 1:1. Optionally, a ratio of a carrierweight to a load weight may be greater than, less than, or equal toabout 1:1. When desired, the ratio of an movable object weight to a loadweight may be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or evenless. Conversely, the ratio of a movable object weight to a load weightcan also be greater than or equal to: 2:1, 3:1, 4:1, 5:1, 10:1, or evengreater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.

FIG. 18 illustrates an unmanned aerial vehicle (UAV) 1800, in accordancewith embodiments of the present invention. The UAV may be an example ofa movable object as described herein. The UAV 1800 can include apropulsion system having four rotors 1802, 1804, 1806, and 1808. Anynumber of rotors may be provided (e.g., one, two, three, four, five,six, or more). The rotors, rotor assemblies, or other propulsion systemsof the unmanned aerial vehicle may enable the unmanned aerial vehicle tohover/maintain position, change orientation, and/or change location. Thedistance between shafts of opposite rotors can be any suitable length410. For example, the length 1810 can be less than or equal to 2 m, orless than equal to 5 m. In some embodiments, the length 1810 can bewithin a range from 40 cm to 1 m, from 10 cm to 2 m, or from 5 cm to 5m. Any description herein of a UAV may apply to a movable object, suchas a movable object of a different type, and vice versa. The UAV may usean assisted takeoff system or method as described herein.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for a movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject). The load can include a payload and/or a carrier, as describedelsewhere herein.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 19 illustrates a movable object 1900 including a carrier 1902 and apayload 1904, in accordance with embodiments. Although the movableobject 1900 is depicted as an aircraft, this depiction is not intendedto be limiting, and any suitable type of movable object can be used, aspreviously described herein. One of skill in the art would appreciatethat any of the embodiments described herein in the context of aircraftsystems can be applied to any suitable movable object (e.g., an UAV). Insome instances, the payload 1904 may be provided on the movable object1900 without requiring the carrier 1902. The movable object 1900 mayinclude propulsion mechanisms 1906, a sensing system 1908, and acommunication system 1910.

The propulsion mechanisms 1906 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. The movable object may have one or more, two ormore, three or more, or four or more propulsion mechanisms. Thepropulsion mechanisms may all be of the same type. Alternatively, one ormore propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 1906 can be mounted on the movableobject 1900 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms1906 can be mounted on any suitable portion of the movable object 1900,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 1906 can enable themovable object 1800 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 1900 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 1906 can be operable to permit the movableobject 1900 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 1900 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 1900 can be configured to becontrolled simultaneously. For example, the movable object 1900 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 1900. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 1800 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 1908 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 1900 (e.g., with respect to up to three degrees of translationand up to three degrees of rotation). The one or more sensors caninclude global positioning system (GPS) sensors, motion sensors,inertial sensors, proximity sensors, or image sensors. The sensing dataprovided by the sensing system 1908 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 1900(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 1908 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 1910 enables communication with terminal 1912having a communication system 1914 via wireless signals 1916. Thecommunication systems 1910, 1914 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 1900 transmitting data to theterminal 1912, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 1910 to one or morereceivers of the communication system 1912, or vice-versa.Alternatively, the communication may be two-way communication, such thatdata can be transmitted in both directions between the movable object1900 and the terminal 1912. The two-way communication can involvetransmitting data from one or more transmitters of the communicationsystem 1910 to one or more receivers of the communication system 1914,and vice-versa.

In some embodiments, the terminal 1912 can provide control data to oneor more of the movable object 1900, carrier 1902, and payload 1904 andreceive information from one or more of the movable object 1900, carrier1902, and payload 1904 (e.g., position and/or motion information of themovable object, carrier or payload; data sensed by the payload such asimage data captured by a payload camera). In some instances, controldata from the terminal may include instructions for relative positions,movements, actuations, or controls of the movable object, carrier and/orpayload. For example, the control data may result in a modification ofthe location and/or orientation of the movable object (e.g., via controlof the propulsion mechanisms 1906), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 1902).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 1908 or of the payload 1904). The communications may includesensed information from one or more different types of sensors (e.g.,GPS sensors, motion sensors, inertial sensor, proximity sensors, orimage sensors). Such information may pertain to the position (e.g.,location, orientation), movement, or acceleration of the movable object,carrier and/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 1912 can be configured tocontrol a state of one or more of the movable object 1900, carrier 1902,or payload 1904. Alternatively or in combination, the carrier 1902 andpayload 1904 can also each include a communication module configured tocommunicate with terminal 1912, such that the terminal can communicatewith and control each of the movable object 1900, carrier 1902, andpayload 1904 independently.

In some embodiments, the movable object 1900 can be configured tocommunicate with another remote device in addition to the terminal 1912,or instead of the terminal 1912. The terminal 1912 may also beconfigured to communicate with another remote device as well as themovable object 1900. For example, the movable object 1900 and/orterminal 1912 may communicate with another movable object, or a carrieror payload of another movable object. When desired, the remote devicemay be a second terminal or other computing device (e.g., computer,laptop, tablet, smartphone, or other mobile device). The remote devicecan be configured to transmit data to the movable object 1900, receivedata from the movable object 1900, transmit data to the terminal 1912,and/or receive data from the terminal 1912. Optionally, the remotedevice can be connected to the Internet or other telecommunicationsnetwork, such that data received from the movable object 1900 and/orterminal 1912 can be uploaded to a website or server.

FIG. 19 is a schematic illustration by way of block diagram of a system2000 for controlling a movable object, in accordance with embodiments.The system 2000 can be used in combination with any suitable embodimentof the systems, devices, and methods disclosed herein. The system 2000can include a sensing module 2002, processing unit 2004, non-transitorycomputer readable medium 2006, control module 2008, and communicationmodule 2010.

The sensing module 2002 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 2002 can beoperatively coupled to a processing unit 2004 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 2012 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 2012 canbe used to transmit images captured by a camera of the sensing module2002 to a remote terminal.

The processing unit 2004 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 2004 can be operatively coupled to a non-transitorycomputer readable medium 2006. The non-transitory computer readablemedium 2006 can store logic, code, and/or program instructionsexecutable by the processing unit 2004 for performing one or more steps.The non-transitory computer readable medium can include one or morememory units (e.g., removable media or external storage such as an SDcard or random access memory (RAM)). In some embodiments, data from thesensing module 2002 can be directly conveyed to and stored within thememory units of the non-transitory computer readable medium 2006. Thememory units of the non-transitory computer readable medium 2006 canstore logic, code and/or program instructions executable by theprocessing unit 2004 to perform any suitable embodiment of the methodsdescribed herein. For example, the processing unit 2004 can beconfigured to execute instructions causing one or more processors of theprocessing unit 2004 to analyze sensing data produced by the sensingmodule. The memory units can store sensing data from the sensing moduleto be processed by the processing unit 2004. In some embodiments, thememory units of the non-transitory computer readable medium 2006 can beused to store the processing results produced by the processing unit2004.

In some embodiments, the processing unit 2004 can be operatively coupledto a control module 2008 configured to control a state of the movableobject. For example, the control module 2008 can be configured tocontrol the propulsion mechanisms of the movable object to adjust thespatial disposition, velocity, and/or acceleration of the movable objectwith respect to six degrees of freedom. Alternatively or in combination,the control module 2008 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 2004 can be operatively coupled to a communicationmodule 2010 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 2010 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module2010 can transmit and/or receive one or more of sensing data from thesensing module 2002, processing results produced by the processing unit2004, predetermined control data, user commands from a terminal orremote controller, and the like.

The components of the system 2000 can be arranged in any suitableconfiguration. For example, one or more of the components of the system2000 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 20 depicts asingle processing unit 2004 and a single non-transitory computerreadable medium 2006, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 2000 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 2000 can occur at one or more of theaforementioned locations.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

What is claimed is:
 1. An unmanned aerial vehicle (UAV) battery changingstation, said station comprising: a UAV landing area configured tosupport a UAV when the UAV is resting on the station, said UAV coupledto a first battery configured to power the UAV, wherein the UAV landingarea comprises a detectable marker configured to aid the UAV in landing;a battery storage unit comprising at least one holding stationconfigured to store a battery capable of powering the UAV upon beingcoupled to the UAV; a communication unit in communication with the UAVand configured to receive a signal indicative of a remaining level ofcharge of the first battery; and one or more processors programmed toeffect display of the detectable marker based at least on the remaininglevel of charge of the first battery, wherein the detectable marker isutilized to direct the UAV to land on the UAV landing area or to bypassthe battery changing station.
 2. An unmanned aerial vehicle (UAV)battery changing station, said station comprising, said stationcomprising: a UAV landing area configured to support a UAV when the UAVis resting on the station, said UAV coupled to a first batteryconfigured to power the UAV, wherein the UAV landing area comprises adetectable marker configured to aid the UAV in landing; and a batterystorage unit comprising at least one holding station each configured tostore one or more batteries capable of powering the UAV upon beingcoupled to the UAV, wherein one or more processors are programmed tocause the detectable marker to indicate a state of charge of at leastone battery stored in the battery storage unit.
 3. The battery changingstation of claim 1, wherein the landing area comprises multipledetectable markers configured to aid the UAV in landing or bypassing thebattery changing station.
 4. The battery changing station of claim 1,wherein the detectable marker is a raised pattern, a recessed pattern,an image, a symbol, a decal, a barcode, a QR code, or a light visible onthe energy provision station landing area.
 5. The battery changingstation of claim 2, wherein the detectable marker is a raised pattern, arecessed pattern, an image, a symbol, a decal, a barcode, a QR code, ora light visible on the energy provision station landing area.
 6. Thebattery changing station of claim 1, wherein the detectable markercomprises one or more images, wherein the images aid a UAV in landingwhen the UAV recognizes a particular image indicative that the UAV is toland.
 7. The battery changing station of claim 2, wherein the detectablemarker comprises one or more images, wherein the images aid a UAV inlanding when the UAV recognizes a particular image indicative that theUAV is to land.
 8. The battery changing station of claim 1, wherein thedetectable marker comprises LED lights, wherein the LED lights flash ina specific spatial or temporal pattern that the UAV recognizes at thespecific spatial or temporal pattern that is indicative that the UAV isto land.
 9. The battery changing station of claim 2, wherein thedetectable marker comprises LED lights, wherein the LED lights flash ina specific spatial or temporal pattern that the UAV recognizes at thespecific spatial or temporal pattern that is indicative that the UAV isto land.
 10. The battery changing station of claim 1, wherein thedetectable marker indicates an orientation of the UAV to be landed onthe UAV landing area.
 11. The battery changing station of claim 10,wherein the detectable marker is asymmetric to be indicative of theorientation.
 12. The battery changing station of claim 1, wherein thedetectable marker is indicative of the distance of the landing arearelative to the UAV.
 13. The battery changing station of claim 1,wherein the detectable marker is discernable to the UAV from above theUAV landing area.
 14. The battery changing station of claim 2, whereinthe detectable marker is discernable to the UAV from above the UAVlanding area.
 15. The battery changing station of claim 1, wherein thedetectable marker is on an exterior surface of the battery changingstation.
 16. The battery changing station of claim 2, wherein thedetectable marker is on an exterior surface of the battery changingstation.
 17. The battery changing station of claim 1, wherein thedetectable marker is uniquely recognized by an approaching UAV.
 18. Thebattery changing station of claim 2, wherein the detectable marker isuniquely recognized by an approaching UAV.
 19. The battery changingstation of claim 1, wherein the battery changing station emits intra-red(IR), ultra-violet (UV), radio, and/or audio signals.
 20. The batterychanging station of claim 2, wherein the battery changing station emitsintra-red (IR), ultra-violet (UV), radio, and/or audio signals.
 21. Amethod of processing information from a battery changing station at anunmanned aerial vehicle (UAV), said method comprising: detecting, by theUAV, a detectable marker from the battery changing station of claim 1;and generating, with aid of one or more processors at the UAV, a commandsignal that affects operation of the UAV based on the detection of thedetectable marker.
 22. The method of claim 21, wherein the commandsignal drives one or more propulsion units of the UAV.
 23. The method ofclaim 21, wherein the command signal causes the UAV to land on thebattery changing station after the UAV detects the detectable marker onthe battery changing station, and wherein the UAV does not receive anyother information from the battery changing station.
 24. The method ofclaim 21, wherein the command signal causes the UAV to effect a choicebetween (1) bypassing the UAV landing area, or (2) landing on the UAVlanding area, based on the detectable marker.
 25. The method of claim24, wherein the command signal is generated without any input by a user.26. A method of processing information from a battery changing stationat an unmanned aerial vehicle (UAV), said method comprising: detecting,by the UAV, a detectable marker from the battery changing station ofclaim 2; and generating, with aid of one or more processors at the UAV,a command signal that affects operation of the UAV based on thedetection of the detectable marker.
 27. The method of claim 26, whereinthe command signal drives one or more propulsion units of the UAV toland on the UAV landing area when detectable marker is indicative thatthe one or more batteries stored in the battery changing station arefully charged.
 28. The method of claim 27, wherein the UAV lands in anautonomous or semiautonomous fashion.
 29. The method of claim 26,wherein the command signal does not drive one or more propulsion unitsof the UAV to land on the UAV landing area when the detectable marker isindicative that no battery on the battery changing station is fullycharged.